Siemens SINAMICS S120 Function Manual page 150

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Servo control

5.15 Motor data identification

Determined data

r1934 q inductance identified

r1935 q inductance identification current

r1937 torque constant identified

r1938 voltage constant identified

r1939 reluctance torque constant identified

r1947 optimum load angle identified

r1969 moment of inertia identified

r1973 encoder pulse number identified

The encoder pulse number is only determined with a very high degree of inaccuracy (p0407/p0408) and

is only suitable for making rough checks. The sign is negative if inversion is required (p0410.0).

r1984 pole position identification angular dif‐

r1984 indicates the difference of the angular commutation offset before being transferred into p0431.

For linear motors (p0300 = 4xx), p1959 is pre-set so that only the q inductance, the

commutation angle offset and the high inertia mass are measured (p1959.05 = 1 and p1959.10

= 1), as generally the travel limits do not permit longer travel distances in one direction.

Data determined using p1960 for synchronous motors (rotating measurement)

Equivalent circuit diagram for induction motor and cable

Data that are accepted (p1960 = 1)

p0356 motor stator leakage inductance

p0391 current controller adaptation starting point Kp

p0392 current controller adaptation starting point Kp

p0393 current controller adaptation P gain adaptation

p0316 motor torque constant

p0317 motor voltage constant

p0328 motor reluctance torque constant

p0327 optimum motor load angle

p0341 motor moment of inertia · p0342 ratio between

the total moment of inertia and that of the motor + p1498

load moment of inertia

p0431 commutation angle offset

Function Manual, 06/2019, 6SL3097-5AB00-0BP2

Drive functions